Sounds like marginal power getting to the solenoid.
1st - Let's rule your battery out. Either swap it for one you know is good, or, disconnect it and jump from another car directly to you battery cables.
2nd - If the symptoms persist, look to electrical connections as you've already suggested. Clean them up.
3rd - Use a stout screwdriver and, without grounding it to the block or oil dipstick) use it to jump the two large connector lugs on the starter. Make sure the car is out-of-gear when you do this or you'll find you've just ran over your own foot and created quite the cocktail party story.
4th - OK, problem's still there? Before you send for a new starter, pull the old one, tear it apart, and clean all internal connections. Clean all of the old crud around the bearings. Re-Lube the bearings. If you can get them, replace the brushes.
5th - If all else fails, take the starter into an automotive electrical shop for a re-build. Try not to take a trade. Make sure they bench test it before they give it back to you. You'd be surprised; I picked up a re-manufactured alternator from Napa Auto Parts and it wouldn't even spin. (yeah - they told me it had been tested)


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